"""进阶: 使用默认增益周期保持当前姿态,不注入前馈力矩."""
import time

from libark.robot.hw1.arm import Arm


def main() -> None:
    with Arm("left") as arm:
        arm.set_mode("mit")
        arm.enable()
        state = arm.get_state()
        if not state.ok:
            raise RuntimeError("反馈不完整,请联系技术支持")
        target = state.q7
        end = time.monotonic() + 1.0
        while time.monotonic() < end:
            arm.send_mit(target)
            time.sleep(0.02)
        print("结束位置:", arm.get_state().pos)


if __name__ == "__main__":
    main()